Device, method for controlling the same, and device group or swarm

ABSTRACT

A device includes an optical sensing unit configured to sense an object so as to obtain a picture of the object. The device includes a drive unit configured to drive and to move the device. The device includes an evaluation unit configured to evaluate the picture in terms of an at least two-dimensional pattern and to evaluate the pattern in terms of at least a first marking area and a second marking area. The evaluation unit is configured to obtain a marking result by comparing the first marking area and the second marking area, and to determine, on the basis of the marking result, relative localization of the device with regard to the object. The device includes a control unit configured to control the drive unit on the basis of the relative localization.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application is a continuation of copending InternationalApplication No. PCT/EP2020/072174, filed Aug. 6, 2020, which isincorporated herein by reference in its entirety, and additionallyclaims priority from German Application No. DE 10 2019 211 984.0, filedAug. 9, 2019, which is incorporated herein by reference in its entirety.

The present invention relates to a device which can determine its ownrelative localization with regard to surrounding objects and whichcontrols, on the basis thereof, drive means for its own locomotion. Thepresent invention further relates to a device group, or swarm,comprising a plurality of such devices, to a method of controlling adevice, as well as to a computer program. In addition, the presentinvention relates to recognition of other participants in the system andtheir orientations via lateral patterns located on transport vehicles.

BACKGROUND OF THE INVENTION

When several mobile robots are used which cooperate with one another orwith other infrastructure that is capable of interaction, the problem ofunambiguous recognition and identification of the surroundinginteraction partners arises. In relatively complex processes, it is notonly useful to recognize the other participants, but there may alsoexist other requirements such as recognition of their spatialorientations, so as to enable, e.g., docking operations for loadtransfer between two robots or so as to be able to interpret thedirection of travel of the other participants. In highly dynamicsystems, said recognition additionally is to be effected as fast aspossible and is not to take up too many resources (CPU/GPU power) on theexisting hardware.

Known solutions have been primarily dependent on the type of the robotswarm used. In systems comprising central localization, wherein oneserver coordinates all participants, it is possible to communicate thepositions of the surrounding vehicles to all robots via regular radiocommunication. In distributed systems, vehicles may span a mesh networkfor communication, via which they can communicate their respectivecurrent position to the surrounding participants. For docking operationsat stations or the like, so called “landmarks” or barcodes/QR codeswhich can be recognized by a scanner are sometimes used.

There is a need for devices, methods of controlling same and for devicegroups which enable reliable relative localization of the device withregard to an object.

SUMMARY

According to an embodiment, a device may have: an optical sensing unitconfigured to sense an object so as to obtain a picture of the object; adrive unit configured to drive and to move the device; an evaluationunit configured to evaluate the picture in terms of an at leasttwo-dimensional pattern, and to evaluate the pattern in terms of atleast a first marking area and a second marking area so as to obtain amarking result by comparing the first marking area and the secondmarking area; and to determine, on the basis of the marking result,relative localization of the device with regard to the object; a controlunit configured to control the drive unit on the basis of the relativelocalization; wherein the drive unit is configured to move the devicealong a direction of movement; wherein the optical sensing unit isconfigured to sense the object along or in parallel with the directionof movement.

According to another embodiment, a device group may have: a plurality ofinventive devices; wherein the plurality of devices include, on at leastone surface, a device pattern indicating at least one object side or anobject identity; wherein the plurality of devices are configured toorient themselves, in relation to one another, on the basis of therespective relative localization.

According to yet another embodiment, a method may have the steps of:controlling a drive unit to drive a device and to move it along adirection of movement within a plane of movement; controlling an opticalsensing unit of the device to sense an object within the or in parallelwith the plane of movement so as to obtain a picture of the object;controlling an evaluation unit to evaluate the picture in terms of an atleast two-dimensional pattern; and to evaluate the pattern in terms ofat least a first marking area and a second marking area, to obtain amarking result by comparing the first marking area and the secondmarking area; and to determine, on the basis of the marking result,relative localization of the device with regard to the object;controlling a control unit to control the drive unit on the basis of therelative localization.

According to still another embodiment, a non-transitory digital storagemedium may have a computer program stored thereon to perform theinventive method, when said computer program is run by a computer.

A core idea of the present invention consists in installingtwo-dimensional patterns on objects and in determining the relativelocalization of the device with regard to the object by evaluating thetwo-dimensional pattern at least in terms of first and second markingareas within the pattern. Consequently, a device which has determinedrelative localization for itself may control drive means to move saiddevice.

In accordance with an embodiment, a device includes optical sensingmeans configured to sense an object so as to obtain a picture of theobject. The device includes drive means configured to drive and to movethe device. The device includes evaluation means configured to evaluatethe picture in terms of an at least two-dimensional pattern and toevaluate the pattern in terms of at least a first marking area and asecond marking area.

The evaluation means configured to obtain a marking result by comparingthe first marking area and the second marking area, and to determine, onthe basis of the marking result, relative localization of the devicewith regard to the object. The device further includes control meansconfigured to control the drive means on the basis of the relativelocalization. This enables relative localization of the device withregard to surrounding objects by means of the recognized patterns and,therefore enables robust and precise control of the drive means.

In accordance with one embodiment, the pattern is a two-dimensional QR(quick response) code which includes a plurality of marking areasbetween which an object code for identifying the object and a surfacecode for identifying a surface of the object are arranged alongdifferent spatial directions. In addition to localization with regard tothe object, this also enables orientation by individual surfaces of theobject.

In accordance with an embodiment, the evaluation means is configured todetermine a rotation of the object with regard to the device by means ofa size comparison of the first marking area and the second marking area.This enables precise determination of the direction with regard to theobject so as to move, e.g., perpendicularly or in parallel or at anyother angle with regard to the surface.

In accordance with an embodiment, the device is a ground vehicleconfigured to move along horizontally while using the drive means. Theevaluation means is configured to evaluate the pattern in terms of ahorizontal arrangement of the first pattern area and of the secondpattern area so as to determine a rotation, related to an orientation ofthe device, of the object about a vertical axis. This enables precisedetermination of the orientation of the surface with regard to thedevice.

In accordance with an embodiment, the evaluation means is configured toevaluate the pattern in terms of a vertical arrangement of the firstpattern area and of the second pattern area so as to determine arotation, related to an orientation of the device, of the object about ahorizontal axis. This may be advantageous, in particular, when thedevice and the object may be arranged at different levels of height.Evaluation in terms of rotation of the object about a vertical axis andwith regard to a rotation of the object about a horizontal axis may becombined, for example in that at least three marking areas within thetwo-dimensional pattern are recognized, for example two along adirection comprising at least one horizontal component, and two markingareas arranged along a direction comprising at least one verticaldirectional component. For example, if diagonal arrangement of the firstand second marking areas with regard to the horizontal/verticaldirection(s) is provided, it is possible to perform evaluation in termsof both rotations by means of two marking areas.

In accordance with an embodiment, the evaluation means is configured todetermine an object distance between the device and the object by meansof comparing a size of the first pattern area to a reference size, or ofthe second pattern area in the picture to the reference size, and todetermine the relative localization on the basis of the object distance.Thus, it may also be possible for the distance to be able to be sensedas part of the relative localization via the relative orientation.

In accordance with an embodiment, the evaluation means is configured toevaluate the pattern in terms of a third pattern area and a fourthpattern area which span a rectangle along with the first pattern areaand the second pattern area, and to determine the relative localizationfrom deviations of the first to fourth pattern areas from thearrangement as a rectangle. This enables robust relative localizationdetermination since redundant information may possibly also be takeninto account.

In accordance with an embodiment, the evaluation means is configured toevaluate the picture in terms of an object code and to performidentification of the object on the basis of the object code, thecontrol means being configured to control the drive means on the basisof the object identification. Object identification may be part of therelative localization in that the device determines its relativeposition and/or orientation with regard to the object.

In accordance with an embodiment, the evaluation means is configured toevaluate the picture in terms of a surface code and to perform surfaceidentification of a surface of the object on the basis of the surfacecode, the control means being configured to control the drive means onthe basis of the surface identification. This enables the device toorient itself not only with regard to the object but to orient itselfalso with regard to individual surfaces or sides of the object, so as toavoid specific sides or to move toward them, for example.

In accordance with an embodiment, the evaluation means is configured toevaluate the picture in terms of an object code which is arrangedbetween the first and second marking areas and indicates an identity ofthe object. This enables synergetic utilization of the marking areasboth for determining at least parts of the relative localization and asan orientation aid so as to find additional information.

In accordance with an embodiment, the evaluation means is configured toevaluate the pattern in terms of at least one third marking area, and toevaluate the picture in terms of an object code which is arrangedbetween the first and second marking areas and indicates an identity ofthe object. The evaluation means is further configured to evaluate thepicture in terms of a surface code which is arranged between the thirdmarking area and the first marking area or between the first markingarea and the second marking area and indicates an identity of a side ofthe object on which the pattern is arranged. It may be possible todifferentiate different sides of the object from one another by means ofthe surface code. In addition, synergetic utilization of the markingareas is possible here, too, so as to provide an orientation aid forfinding the surface code. In combination with the object code,therefore, it may be possible, by arranging the surface code and theobject code between different, previously specified marking areas, toachieve unambiguous identification of the object and of the surfacethereof; and the information may be reliably found.

In accordance with an embodiment, the evaluation means is configured toevaluate the pattern in terms of an object code indicating an identityof the object, and to evaluate the pattern in terms of a surface codewhich is arranged separately from the former and indicates a specificsurface region of the object, e.g. a side, and to determine the relativelocalization with regard to the object and to the surface region. Byarranging the surface code and the object code separately, i.e. byspatially separating them, the unambiguity of respective informationand/or of a respective code may be supported.

In addition, it is possible, by arranging the codes separately, torepresent the respective object code and the respective surface codewith few characters, bits or other symbols since each object class, theobject in itself and a side thereof, may be encoded for itself.

In accordance with an embodiment, the control means is configured toperform an instruction which indicates to take up a predeterminedrelative position with regard to a predetermined side of a predeterminedobject. The control means is configured to adapt its own position bycontrolling the drive means in accordance with the instruction, on thebasis of the localization information. This enables the device toautonomously take up the corresponding relative position with regard tothe object.

In accordance with an embodiment, the device comprises coupling meansconfigured to perform mechanical coupling to corresponding mechanicalcoupling means of the object. Accordingly, a counterpart which isadapted to the coupling means may be understood to mean that it may beimplemented as two identical parts, but also as a concept of male andfemale connectors, a concept similar to a magnetic north pole/south poleor the like. In this manner, it is possible to perform mechanicalcoupling between the device and the object so as to enable, e.g.,transfer of an object and/or to form a combined device which isconfigured, e.g., to transport shared loads. For example, it may also beconnected to other devices or objects, e.g. a charging station or thelike.

In accordance with an embodiment, the device is configured to orientitself by the two-dimensional pattern so as to mechanically connect themechanical coupling means to the corresponding mechanical couplingmeans. Therefore, the relative localization may be used for aligning thedevice itself with regard to the corresponding mechanical coupling meansof the object, so as to enable the mechanical connection.

In accordance with an embodiment, the device comprises, in a plan view,a polygon surface, advantageously an even-numbered polygon surface, andparticularly advantageously in accordance with a regular or irregularoctagon. On at least two faces of the polygon, the device comprisesmechanical coupling means. This enables highly flexible implementationwith regard to the ability to be coupled to other objects. Theconfiguration as a polygon surface is to be understood as anapproximation since rounded-off corners or edges may also be understoodto be a polygon.

In accordance with an embodiment, the device itself comprises atwo-dimensional pattern on at least one side on which the mechanicalcoupling means is arranged. This enables other devices to accuratelymove toward the side on which the mechanical coupling means is arranged.

In accordance with an embodiment, a device group includes a plurality ofdevices described herein. Each of the plurality of devices comprises, onat least one surface, a device pattern, e.g. a described two-dimensionalpattern. The device pattern indicates at least an object side or anobject identity. The plurality of devices are configured to orientthemselves, in relation to one another, on the basis of the respectiverelative localization.

In accordance with an embodiment, the devices of the plurality ofdevices are configured to sense the device pattern of other devices andto take up, on the basis of object codes and/or surface codes, arespective relative location with regard to a another device of thedevice group or to a surface thereof. This enables navigation of thedevices as an autonomous swarm.

In accordance with an embodiment, the plurality of devices areconfigured to mechanically couple to one another, which enables transferof objects and/or cooperative or combinatorial accomplishment of atransport task.

In accordance with an embodiment, a method by means of which, e.g.,devices described herein may be controlled includes controlling drivemeans so as to drive and to move the device within or in parallel with aplane of movement, e.g. along a direction of movement. The methodincludes controlling optical sensing means of a device to sense anobject within the or in parallel with the plane of movement so as toobtain a picture of the object.

The method includes controlling evaluation means to evaluate the picturein terms of an at least two-dimensional pattern, and to evaluate thepattern in terms of at least a first marking area and a second markingarea, to obtain a marking result by comparing the first marking area andthe second marking area, and to determine, on the basis of the markingresult, relative localization of the device with regard to the object.The method includes controlling control means to control the drive meanson the basis of the relative localization.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the present invention will be detailed subsequentlyreferring to the appended drawings, in which:

FIG. 1 shows a schematic block diagram of a device in accordance with anembodiment;

FIG. 2a shows a schematic view of an undistorted pattern in accordancewith an embodiment;

FIG. 2b shows a schematic perspective view of the pattern of FIG. 2a ina perspective view;

FIG. 3 shows a schematic view of a pattern in accordance with anembodiment that is formed as a two-dimensional QR code having threepattern areas;

FIG. 4 shows a schematic representation of a pattern in accordance withan embodiment, which comprises at least four pattern areas;

FIG. 5 shows a schematic top view of a device in accordance with anembodiment, which comprises one or more coupling means;

FIG. 6 shows a schematic top view of a device in accordance with anembodiment, wherein each of the exemplarily six sides is provided with aside-individual pattern;

FIG. 7 shows a schematic top view of a device group in accordance withan embodiment, wherein devices are coupled in a one-dimensional manner;

FIG. 8 shows a schematic top view of a device group in accordance withan embodiment, which also comprises a plurality of two-dimensionallycoupled devices; and

FIG. 9 shows an exemplary perspective photograph of a device group inaccordance within embodiment.

DETAILED DESCRIPTION OF THE INVENTION

Before embodiments of the present invention will be explained in detailwith reference to the drawings, it shall be noted that elements, objectsand/or structures in the different figures which are identical,identical in function or in effect, are provided with identicalreference numerals, so that the descriptions of said elements that areprovided in different embodiments are interchangeable and/or mutuallyapplicable.

The present embodiments relate to devices, in particular to self-drivingrobots. These include, e.g., robots driving autonomously, the termautonomously being understood to mean that e.g. in a device group, e.g.a robot swarm, solutions to specific tasks are developed autonomously.This does not exclude external influences, e.g. overriding communicationof a task, e.g. to transport an object or to perform actions at specificlocations. Terms such as “self-driving” or “driving autonomously” may beunderstood to mean that the task of recognizing the surroundings and oforientation as well as of independent locomotion for accomplishing thetasks is achieved.

Even though embodiments described herein relate to driving devices, e.g.while using wheels, rolls or chains, the embodiments are not limitedthereto, but relate to any form of one-dimensional, two-dimensional, orthree-dimensional locomotion, in particular to flying devices and/ordevices where at least one working plane may be varied in position withregard to a direction of height, as is the case with fork-lift trucks,for example.

FIG. 1 shows a schematic block diagram of a device 10 in accordance withan embodiment. The device 10 includes optical sensing means 12configured to sense an object 14 so as to obtain a picture of the object14. The optical sensing means 12 may be a line scan camera or an areascan camera, but may alternatively also be configured as a scanner, forexample, e.g. as a line scanner. The optical sensing means 12 may obtainthe picture of the object 14 while optically scanning it. To this end,imaging on an image sensor may be obtained. Alternatively, however, itis also possible, for example by means of raster scanning along a line,to obtain sequential information regarding the object 14 or partsthereof, which may also include transformation of the object 14, or thepart thereof. For example, the optical sensing means 12 may beconfigured to scan at least a two-dimensional or three-dimensionalpattern 16 arranged on the object 14. While this may also be effected,with an area scan camera, by imaging the object 14, e.g. a laser scannermay be preset to corresponding properties of the pattern 16 so that acorresponding output signal 18 of the optical sensing means 12 may be atleast partly limited to the properties of the pattern 16.

The device 10 includes drive means 22 configured to drive and to movethe device 10. for example, the device 10 may be configured as a groundvehicle so as to move along horizontally, e.g. on a ground area or thelike, e.g. within an x/y plane, while using the drive means 22.Alternatively or additionally, at least part of the device 10 may bevariable along a z direction, e.g. by means of height adjustment.Alternatively or additionally, the device 10 may be configured tospatially move in a three-dimensional or one-dimensional manner.

In the event of two-dimensional movement, a movement may occur inparallel with the x/y plane; the reference plane may also be curved ortitled as a function of the foundation on which the device is moved,e.g. when the ground is uneven. Movement of the device 10 may occuralong a variable direction of movement, which may comprise, e.g., an xcomponent and/or a y component. The device may be configured to sensethe object 14 along or in parallel with a current or possible directionof movement in addition to the drive means 32, which moves the devicealong the direction of movement. To this end, the optical sensing means12 may be configured to sense the object 14 within the x/y plane or in amanner that is offset or tilted with regard thereto. This means that theoptical sensing means 12 may sense the object 14 along or in parallelwith the direction of movement. The sensed surface of the object 14 isthus arranged to be out of plane with regard to the plane of movement,for example perpendicularly thereto or tilted at an angle thereto thatdiffers from at least 90°, so that sensing of the object 14 enablessensing of the pattern when the line of vision is parallel to thedirection of movement. This may be used for recognizing other devices,stations or means with which interaction is desired, and is to bedistinguished from ground marks which merely serve to achieve navigationpurposes, are arranged perpendicularly to the direction of movement andare assumed to be invariable with regard to the position.

The evaluation means 22 may be configured to evaluate the picture,obtained by means of the output signal 18, in terms of the pattern 16.This means that the pattern 16 may be evaluated in terms of predefinedfeatures. For example, the pattern 16 may comprise two or more markingareas 24 ₁ and 24 ₂. The evaluation means 22 may be configured toevaluate the pattern 16 in terms of at least two marking areas 24 ₁ and24 ₂. The evaluation means 22 is further configured to perform acomparison while using the marking areas 24 ₁ and 24 ₂. The comparisonmay include mutual comparison of features of the marking areas 24 ₁ and24 ₂, but alternatively or additionally may also include a comparison ofthe respective marking area 24 ₁ and/or 24 ₂, or of features thereof,with a respective reference quantity. The evaluation means 22 isconfigured to obtain a marking result on the basis of the comparison.The evaluation means 22 may be configured to determine, on the basis ofthe marking result, a relative localization of the device 10 with regardto the object 14, in particular to the pattern 16. It is possible, bymeans of a signal 26, to transmit the relative localization of a controlmeans 28 configured to control a drive means 32. The control means 28 isconfigured to control the drive means 32 on the basis of the relativelocalization. The drive means 32 may comprise actuating elements, e.g.wheels, rolls, chains, propellers or the like so as to change thespatial position of the device 10. This means that the device 10 mayspatially move on the basis of the recognized pattern 16 and of theevaluation of the pattern features, in particular of the marking areas24 ₁ and 24 ₂.

FIG. 2a shows a schematic view of the pattern 16, for example in anundistorted state, e.g. when the sensing means 12 views the pattern 16in a perpendicular manner and/or in parallel with a surface normal N.The marking areas 24 ₁ and 24 ₂ may comprise properties predefined withregard to a reference quantity. For example, a dimension 34 ₁ and 34 ₂of the marking areas 24 ₁ and 24 ₂ may be identical along a samedirection, e.g. along a direction a. Alternatively, the dimension 34 ₁may have a predefined ratio, in relation with the dimension 34 ₂, whichdeviates from a 1:1 ratio, e.g. 1:1.1, 1:1.2, 1:1.3 or any other value;within this context, it may be arbitrary which of the dimensions 34 ₁ or34 ₂ is larger and which is smaller. Alternatively or additionally,dimensions 34 ₃ and 34 ₄, which may be arranged along a direction b, forexample, may be identical to or different from each other, at least in areference state, e.g. in a perpendicular view.

Alternatively or additionally, a dimension 34 ₅, e.g. a distance betweenmutually facing edges of the marking areas 24 ₁ and 24 ₂, may comprise apredefined value at least at a predefined distance between the sensingmeans 12 and the pattern 16. The dimension 34 ₅ may also refer to otheredges of the marking areas 24 ₁ and 24 ₂.

Even though the marking areas 24 ₁ and 24 ₂ are depicted as squares, ashape deviating therefrom is also possible, e.g. a free-form surface, apolygon, which is shaped in a regular or irregular manner, an ellipse,in particular a circle, or combinations thereof, e.g. mutually enclosingpolygons or ellipses.

In the depicted view of the pattern 16, in which the sensing means 12views the pattern 16 in a perpendicular manner, for example, thedirection a may be aligned, e.g., in parallel with the x direction, andthe direction b may be aligned in parallel with the z direction of FIG.1; such an exemplary implementation is not to limit the presentembodiments. For example, the surface normal N may be aligned inparallel with the y direction of FIG. 1.

FIG. 2b shows a schematic perspective view of the pattern 16 of FIG. 2a. On the basis of the perspective, the surface normal N may deviate fromthe viewing direction.

As is shown by way of example, distortions may arise within the pattern16 sensed by the sensing means 12. For example, edges which areotherwise equal in length or are at a certain ratio with one another maybe modified, as is depicted, for example, for dimensions 34′₃₋₁ and34′₃₋₂ corresponding to the dimension 34 ₃ in the view of FIG. 2a .Alternatively or additionally, dimensions 34′₄₋₁ and 34′₄₋₂, whichcorrespond to the dimension 34 ₄ in the view of FIG. 2a , may differfrom each other. Corresponding deviations which are due to theperspective may also arise between the dimensions 34′₃ and 34′₄. In thepossibly two-dimensional image obtained from the sensing means 12, thedimensions 34′i and 34′₂ may consequently also differ both from eachother and, irrespectively thereof, from the reference values. The samealso applies to a dimension 34′₅.

This means that on the basis of the perspective, a distortion within thepattern 16 may arise, which may be ascertained by the evaluation means22, so as to determine the relative localization of the device withregard to the object, in particular to the pattern 16.

A comparison of the dimensions of FIG. 2a or of FIG. 2b with a referencequantity, e.g. a quantity indicating the size of the image on an imagesenor or the like, may further allow the evaluation means 22 todetermine a distance between the device and the object. The relativelocalization may thus also relate to the object distance, which meansthat the relative localization may be determined on the basis of theobject distance. To this end, the evaluation means 22 may be configuredto determine the object distance by means of a comparison of a quantityor dimension within the pattern area 24 ₁ and/or 24 ₂ within the picturewith a reference quantity.

Irrespectively thereof, the evaluation means 22 may be configured toevaluate the pattern 16 in terms of horizontal arrangement of thepattern areas 24 ₁ and 24 ₂ so as to determine orientation of the device10 with regard to a rotation of the device 10 with regard to the object14 about an axis 36. For example, if the device 10 is configured as aground vehicle, the axis 36 may be vertically aligned, for example inparallel with the b direction or the z direction.

Alternatively or additionally, it is also possible to configure theevaluation means 22 such that same evaluates the pattern 16 in terms ofa vertical arrangement of the pattern areas 24 ₁ and 24 ₂ so as todetermine rotation, related to an orientation of the device 10, of theobject 14 about a horizontal axis. For example, a difference indimensions 34′₁ or 34′₂ might result at different locations of thepattern due to differences in height, which may be evaluated in anequivalent manner. To this end, the pattern areas 24 ₁ and 24 ₂ might bearranged along the b direction, for example. Displacement of the patternareas 24 ₁ and 24 ₂ along two directions, e.g. along a diagonal, mayenable combinatorial evaluation in terms of a rotation of the devicewith regard to the object about a horizontal axis and a vertical axis.

The embodiments have in common that rotation of the object with regardto the device may be determined by the evaluation means 22 by means of acomparison of the sizes of the marking areas 24 ₁ and 24 ₂, whichconversely and in the sense of relative localization equivalently meansrotation of the device with regard to the object.

FIG. 3 shows a schematic view of a pattern 16 in accordance with anembodiment, which is configured as a two-dimensional QR code. Thepattern 16 includes at least two, by way of example three, marking areas24 ₁ and 24 ₂ and 24 ₃, whose arrangement spans a triangle 38 for thepurpose of achieving space efficiency and of accurately determiningrelative localization. This does not exclude arrangement along a line,but offers advantages with regard to the implementation in combinationwith additional information, as will be explained below.

The marking areas 24 ₁ and 24 ₂ and/or 24 ₃ may be configured to beidentical with or different from one another. By way of example,mutually different numbers of mutually enclosing ring patterns 42 ₁₋₁ to42 ₁₋₅, 42 ₂₋₁ to 42 ₂₋₄, and/or 42 ₃₋₁ to 42 ₃₋₄ may be arranged inmutually different marking areas 24 ₁, and 24 ₂, and 24 ₃, respectively.For example, outer peripheries of the marking areas 24 ₁ to 24 ₃ mayspan, along the directions a and b which may span a pattern-specificcoordinate system, pattern areas 44 ₁ and 44 ₂, which are arrangedbetween two adjacent marking areas 24 ₁ and 24 ₂, and 24 ₁ and 24 ₃,respectively. Thus, it is along the different spatial directions a and bthat additional information may be depicted in the pattern areas 44 ₁and 44 ₂ arranged along said directions, which additional informationmay be sensed by the sensing means 12 and be evaluated by the evaluationmeans 22. For example, different information of codes 46 and 48 may becontained; it is also possible, alternatively, to depict only one of thecodes 46 or 48. Each of the codes 46 and 48 may contain, independentlyof each other, specific information which may be evaluable by theevaluation means 22. For example, the code 46 may include an object codefor identifying the object 14, which code enables, e.g., tounambiguously identify an object within a specific system or swarm ofdevices. For example, the code 48 may include a surface code foridentifying a specific surface of the object 14. In other words, thevaluation means 22 may be configured to evaluate the pattern 16 in termsof the object code 46, which indicates an identity of the object. Theevaluation means 22 may further be configured to evaluate the pattern 16in terms of a surface code 48, which is arranged separately from theobject code 46 and which indicates a specific surface region of theobject 14, e.g. a side thereof, so as to determine the relativelocalization with regard to the object 14 and to the surface region.Alternatively or additionally, the codes 46 and 48 may also compriseother information or may be mutually exchanged.

For example, the respective pattern components 5Z to 52, formed to beround; however, they may have any other shape, e.g. be formed along afree-form area, a polygon, an ellipse, or the like. The patterncomponents 52 within a code may be formed to be identical to ordifferent from one another. Likewise, the pattern components indifferent codes may be formed to be identical to or different from oneanother.

The evaluation means 22 may be configured to evaluate the picture interms of the object code 46 and to perform object identification of theobject 14 on the basis of the object code 46. The control means 28 maybe configured to control the drive means 32 on the basis of the objectidentification. This means that the object identification may form partof the relative localization. As a result, it is possible for the device10, for example, to not only determine the presence of any object and/orto determine relative orientation or rotation with regard to the object,but also to identify the object and to distinguish it, e.g., from otherobjects.

Alternatively or additionally, the evaluation means 22 may be configuredto evaluate the picture in terms of the surface code 48, and to perform,on the basis of the surface code 48, surface identification of a surfaceof the object 14. The control means 28 may be configured to control thedrive means 32 on the basis of the surface identification. This enablesthe device 10 to not only identify and/or to move toward and/or to avoidthe object 14, but also to move toward or circumnavigate a specific sideor surface of the object 14. For example, the object 14 may be provided,on different sides, with the same object code but with different sidecodes, which makes it possible to move toward a specific side of theobject 14. For example, the device 10 may be informed that a specificside of the object 14 offers the possibility of accommodating orreceiving energy, information, or objects, and/or to effect mechanicalcoupling to the device 10. Driving toward a specific side of the object14 may thus be relevant to the device 10, which is made possible by thefact that the sides can be distinguished by means of the side code 48.

For example, if patterns in accordance with FIG. 3 are used, theevaluation means may be configured to evaluate the pattern 16 in termsof at least three marking areas 24 ₁, 24 ₂, and 24 ₃ and to evaluate thepicture in terms of an object code 46 which is arranged between themarking areas 24 ₁ and 24 ₂ and indicates an identity of the object 14.Moreover, the evaluation means 22 may be configured to evaluate thepicture in terms of a surface code 48 which is arranged between themarking areas 24 ₁ to 24 ₃ indicates an identity of a side of the object14 on which the pattern is arranged. Alternatively or additionally, itis also possible for the object code to also be arranged between themarking areas 24 ₁ and 24 ₂, or for a sequential order of the markingareas 24 ₁, 24 ₂, and 24 ₃ to result in sequential arrangement of thepattern areas 44 ₁ and 44 ₂ and, consequently, of the codes.

Orientations of directions a and b with regard to the direction x/y/zmay be arbitrary within this context. Without any limitations, thepattern 16 may be arranged, for example, on the object 14 and/or may berotated there. It may also be possible for a spatial relative locationof the object 14, for example a rotation about they axis, to beunambiguously determinable from the location of the marking areas 24 ₁,24 ₂ and 24 ₃

FIG. 4 shows a schematic representation of a pattern 16 in accordancewith an embodiment, which comprises at least four pattern areas 24 ₁, 24₂, 24 ₃, and 24 ₄. For example, the pattern is extended, as compared tothe representation shown in FIG. 3, by an additional pattern area,namely pattern area 24 ₄. The pattern areas 24 ₁ to 24 ₄ may span arectangle. With reference to the explanations given in connection withFIGS. 2a and 2b , a large degree of information may be useful here alongboth directions a and b so as to determine the relative localization. Itis possible to determine both rotation about an axis parallel to the adirection and rotation about an axis parallel to the b direction. Whilethis is also possible in the pattern of FIG. 3, the pattern of FIG. 4offers additional redundance. The four edges of the rectangle may defineat least one additional pattern area 44 ₃ or 44 ₄. While the pattern ofFIG. 3 may also comprise a pattern area, e.g., at the hypotenuse,depicted there, of the triangle 38, the rectangle configuration of FIG.4 offers the advantage that the pattern areas 24 ₁ and 24 ₃ as well as44 ₂ and 44 ₄ are mutually comparable.

In mutually oppositely located pattern areas 44 ₁ and 44 ₃ as well as 44₂ and 44 ₄, redundant information which is identical in each case may berendered, for example the object code 46, on the one hand, and the sidecode 48, on the other hand. Other embodiments provide for encodingmutually different information in oppositely located pattern areas 44 ₁and 44 ₃, and 44 ₂ and 44 ₄, respectively. Redundancy enables avoidanceof errors, in particular with expected mechanical impairments of thepattern 16.

The evaluation means 22 may be configured to read out the pattern 16similarly to a QR code. Other patterns in accordance with embodimentsdescribed herein provide different encoding, for example as defined by abarcode or other graphic information representations. This includesconfiguring the evaluation means 22 accordingly.

With renewed reference to FIG. 1, the control means 38 may be configuredto perform an instruction indicating to take up a predetermined relativeposition with regard to a predetermined side of a predetermined object,e.g. of the object 14. The control means 32 is configured to adjust, onthe basis of the relative localization with regard to the object 14, itsown position by controlling the drive means 32 in accordance with theinstruction. For example, an instruction may consist in driving towardthe indicated side of the object 14.

The marking areas 44 within which the codes 46 and/or 48 are depictedmay be determined in that a displacement of a marking area 24 along oneof the directions a or b, specifically toward an adjacent marking area,is observed. Within this context, the marking area 44 may be understoodto mean that the surface area within the pattern 16, which is passedover by the displacement along the straight line in parallel with thedirection a or b and which is located outside the marking areas 24 atthe same time, is available as a pattern area. For example, if adisplacement of the marking area 24 ₁ along the direction a is observed,the dimension Δb₁ may determine, in this respect, e.g. a width ordimension along the direction b which is available to the pattern area44. A length Δa₂, across which the displacement takes place, maydetermine a dimension of the pattern area 44 ₁ along the direction a.This means that along one direction, an expansion of the pattern areadue to the length of the displacement and along a directionperpendicular thereto may be determined by a corresponding dimension ofthe marking area.

The evaluation means 22 may be configured to verify the pictureexclusively within the marking areas 44 ₁ to 44 ₄ in terms of additionalinformation such as the codes 46 and 48. Within this context, theevaluation means may be configured to verify one, two or more patternareas 44. Advantageous embodiments relate to axial extensions of thepattern areas 44 along the main directions, which spatially extend in alinearly independent manner, such as the mutually perpendiculardirections a and b, which excludes arranging codes on the diagonal ofthe triangle 38. In accordance with these embodiments, different patternareas 44 are arranged exclusively perpendicularly or in parallel withone another. This enables clear, fast, and robust localization of codesby means of the marking areas 44 ₁ to 44 ₃ in FIG. 3, and 24 ₁ to 24 ₄in FIG. 4. The pattern areas 44 may have one or more rows or linesarranged therein which comprise encoded information. For example, thepattern area 44 ₁ may comprise a number of two lines, where, e.g., 10columns of a matrix arrangement are arranged. The pattern area 44 ₂ mayalso comprise, e.g., two lines or rows; four columns of a matrixarrangement are disposed. The terms column and row here may beinterchanged at random.

FIG. 5 shows a schematic top view of a device 50 in accordance with anembodiment. The device 50 may comprise one or more coupling means 54 ₁and/or 54 ₂. For example, the device 50 may comprise a mechanical,magnetic, electromagnetic, or differently configured force elementconfigured to effect a mechanically fixed connection to a correspondingcounterpart and/or to perform a mechanical contact. The coupling means54 ₁ and/or 54 ₂ thus is configured to perform mechanical coupling tocorresponding mechanical coupling means which may be arranged, e.g., onthe object 14.

A pattern 16 ₁, 16 ₂ and/or 16 ₃ may be arranged on one or several orall sides of the device 50. The patterns may be completely or partlyidentical, e.g. while using a pattern of FIG. 1, 2 a, or 2 b.Alternatively, the pattern may be object-specific, which also enablesidentical patterns 16 ₁, 16 ₂ and 16 ₃; however, the pattern may differfrom other devices, for example within a device group or swarm.Alternatively or additionally, however, embodiments provide for thepatterns 16 ₁, 16 ₂ and 16 ₃ to be at least individual in terms ofsides, which means that different sides 58 ₁, 58 ₃, and 58 ₄ comprisemutually different patterns 16 ₁, 16 ₂ and 16 ₃, so that the sides maybe distinguished from one another by means of the patterns 16 ₁ to 16 ₃.

The device 50 may be configured such that a side-individual pattern isattached on at least one, several or all sides 58. Attachment may beeffected by means of adhesion or a bonding agent, but may also beeffected integrally with a sidewall, for example by means of engravingor some other lithography technique.

The device 50 may be configured to orient itself by a correspondingtwo-dimensional pattern attached on the object 14, e.g. on a differentdevice. While using the mechanical coupling means 54 ₁ or 54 ₂, thedevice 50 may establish a mechanical connection to the correspondingmechanical coupling means.

For high flexibility of the mechanical connection, it may beadvantageous to configure the device 50 such that a base body of thedevice 50 spans a polygon surface. The polygon surface may comprise atleast three sides and may be formed to be regular or irregular,advantageously in a manner which enables achieving high area densitywhen connecting it to several devices. For example, regular hexagons orregular octagons are suitable for this purpose. It is advantageous forthe device 50 to comprise a mechanical coupling means on at least twopossibly oppositely located surfaces.

Implementation of the base body as a polygon surface does not preventthat elements such as wheels of the drive means, the mechanical couplingmeans or the like will jut out from one or more sides. However, this isadvantageously implemented such that the mechanical coupling may beeffected such that no blockage or hindrance is caused by said elements.

In accordance with embodiments, the device comprises a pattern 16 atleast on one side on which the mechanical coupling means 54 ₁ or 54 ₂ isarranged. This enables other devices to find sides of the device 50which are designed for mechanical coupling.

Even though FIG. 5 is depicted such that the mechanical coupling means54 ₁ is located adjacently to the pattern 16 ₁ and that the mechanicalcoupling means 54 ₂ is located adjacently to the pattern 16 ₂, any otherimplementations are possible, such as a position above or below,laterally adjacent and/or mutually enclosing. For example, themechanical coupling means 54 may also be arranged in an intermediatearea or central area of the pattern 16. This enables preciselocalization of the mechanical coupling means by means of the pattern.

FIG. 6 shows a schematic top view of a device 60 in accordance with anembodiment, wherein each of the exemplarily six sides 56 ₁ to 56 ₆ isprovided with a side-individual pattern 16 ₁ to 16 ₆; by way of example,each side 56 ₁ to 56 ₆ comprises mechanical coupling means 54 ₁ to 54 ₆.A number of patterns, sides and/or sides provided with a pattern and/orwith a coupling means may be varied at random.

FIG. 7 shows a schematic top view of a device group 70 in accordancewith an embodiment. The device group 70 includes at least two, at leastthree, at least four, or a higher number, e.g. at least 10, at least 20,or more devices, such as devices 50, as is depicted by way of example bydesignations 50 ₁, 50 ₂, and 50 ₃. Alternatively or additionally, otherdevices described herein may also be part of the device group, forexample the device 10 or the device 70. A number of the respectivedevices may be arbitrary here.

For example, if the device 10 is used once or several times in thedevice group 70, it may be extended by arranging a correspondingpattern, or device pattern, so as to give other devices the opportunityto orient themselves by the corresponding device. In this manner, onemay achieve that the plurality of devices 50 ₁ to 50 ₃ each comprise, onat least one surface, a device pattern indicating at least an objectside or an object identity. The plurality of devices may be configuredto orient themselves, in relation to one another, on the basis of therespective individually determined relative localization.

Embodiments provide for the devices to be configured to sense the devicepattern located on the device and to take up, on the basis of the objectcode and/or surface code, a relative location with regard to anotherdevice of the device group or to a surface thereof.

Optionally, and as is shown for the device group 70, two or more, forexample three or all of the devices may be mechanically coupled to oneanother, for example while using mechanical coupling means 54.

FIG. 8 shows a schematic top view of a device group 80 in accordancewith an embodiment, which also comprises a plurality of devices, e.g.devices 60 ₁ to 60 ₃, which may each be configured as a device 60. Byarranging mechanical coupling means along different directions, it ispossible to obtain two-dimensional coupling—unlike FIG. 7, wheremechanical coupling takes place along one single direction.

Embodiments provide for the possibility to arrange mechanical couplingmeans along three spatial directions so as to form a three-dimensionalgroup.

FIG. 9 shows an exemplary perspective photograph of a device group 90 inaccordance with an embodiment. The device group 90 includes, e.g.,devices 95 ₁ and 95 ₂, which are depicted in a mechanically coupledstate. The devices 95 ₁ and 95 ₂ may be formed, e.g., to comply with theexplanations given on devices 10, 50, and/or 60. By way of example, thedevices 95 ₁ and/or 95 ₂ may comprise, in a top view, an octagon shapeof a base body.

One or more sides of a device 95 ₁ and/or 95 ₂ may be provided with thepatterns 16, which may optionally comprise object codes and/or surfacecodes, or side codes.

A further device 105 of the device group 90 may be mobile or immobile,and comprises, e.g., coupling means 54. The device 105 may be configuredto exchange objects with devices 95 ₁ and/or 95 ₂, and/or to exchangeinformation or energy, for example by means of the coupling means 54.

In other words, FIG. 9 shows a prototype of an embodiment. Parts of theside panels may have inventive encoding for recognizing the devicesattached thereto. For example, patterns in accordance with FIG. 2a, 2b ,3, or 4 may be used. While FIG. 3 shows a non-redundant variant having ahorizontal code and a vertical code, FIG. 4 shows an implementationhaving two horizontal codes and two vertical codes. It is to be notedthat one single code is arranged merely between two markers, which isdepicted, by way of example, by the open-circle patterns in the corners,which form a marking area, or a marker. Embodiments are presented suchthat at one point, a horizontal code is used, and at another point, avertical code is used, which in principle is arbitrary. A longer sidemay be used for recognizing participants, for example, since the numberof participants is possibly larger than the number of sides of an objectand therefore, more space is possibly available for encoding moreinformation. A vertical direction may be used, e.g. in FIG. 3 or 4 forrecognizing the side number in the vehicles, e.g., 1 to 6 or 1 to 8.Recognition of the spatial position (or, rather, of the distance fromoneself) and/or of the orientation of the face having the code may evenbe achieved when only the two markers of a horizontal code areevaluated. With horizontal markers/codes, the rotation of the otherparticipant about the vertical axis may be measured, which may be ofinterest for ground vehicles. With vertical markers/codes, the rotationabout the horizontal axis may be measured. The distance may becalculated via the sizes of the markers in the captured image.

In yet other words, outer surfaces of the vehicles have codes in theform of bit patterns attached thereto, which on the one hand assign anunambiguous identification (ID) to each vehicle, which may be identicalfrom all sides and faces. On the other hand, each face of the vehicleobtains an unambiguous ID, which may be recognized separately from thevehicle ID and may be identical across all vehicles, so that, e.g., samesides of different vehicles may be encoded in the same manner. As aresult of this separation, e.g., a “side 1” of all vehicles may obtainthe same bit sequence in each case since the assignment stating to whichvehicle the observed face belongs may be determined via the bit sequenceof the vehicle ID. Alternatively or additionally, other entities withwhich the vehicle may interact may be made accessible in accordance withthe same principle. For example, a reception or delivery station may beprovided with a code, whereby said station may then be automaticallyrecognized, or identified.

The encoded bit sequences may be arranged in lines or two-dimensionalareas and be attached between two “markers”, marking areas 24. Forexample, FIGS. 3 and 4 show utilization of two bit lines, respectively,in mutually different numbers of columns; the codes may be turned towardeach other, e.g. by 90°. The designation of lines, rows or columnsserves to further understanding, but may be interchanged at random.Markers may be simple, readily recognizable and robust features, i.e.properties which primarily serve to recognize the position of the codewithin the image, similarly to the markers in QR codes. The size ratioand the positions of two adjacent markers may be used for determiningthe positions of the bits between the markers. Within this context, oneor more bit lines may be located between the markers, which means n bitlines, wherein n≥1. It is possible to attach at least two, but also moremarkers per surface area. An optimum may result at a number of four, forexample. Consequently, one may possibly achieve an optimum ratio ofmarkers to bit lines (pattern areas), for example by using a number offour x n bit lines for four markers. The diagonals may be used, butembodiments provide for dispensing therewith. Moreover, the additionalinformation about the alignment of the face may be used for improvingcalculation of the bit position. Via channel coding (e.g. Reed Solomon),error protection may be introduced so as to correct erroneously readbits. Markers that have once been detected may be tracked within theimage, e.g. by means of consecutive sensing of the object. To this end,a Kalman filter may be used, for example. This enables avoiding havingto search for markers in the entire image each time in the event of twosuccessive time steps.

Embodiments enable simple and robust recognition of mutual orientationsof vehicles. Separation between vehicle ID and side ID in combinationwith the fact that information is encoded only in the area locatedbetween two markers enables robust recognition even in the event ofpartial concealment of the face on which the code is attached. As soonas two markers are recognized, the information between them can be readout. Consequently, the vehicle ID may still be determined even if partof the code for the face ID is concealed. By accommodating the bitsbetween the marker, it is not necessary to transform the entire imagearea spanned by the markers, as is the case with QR codes, for example.It may be sufficient to apply the transformation to a line, or astraight line, within the image, which is many times easier and faster.Since by means of the code, it is not only possible to provideinformation about the alignment of another participant, but also toestimate the distance from the latter, the method may be used forachieving localization of other participants with regard to one's ownpositon. With QR codes (and codes which work similarly), part of theexisting bits is used for enabling and validating the useful imagetransformation of the code (“synchronization line”), another part isused for representing the type of the QR code (number of bits used,etc.). Embodiments are not dependent on this since the code isspecifically tailored to the field of application of said devices.

Embodiments enable robust and fast recognition of participants orobjects with mobile robots which have cameras. Such embodiments are ofinterest, in particular, for mobile robots at stations in intralogisticsso as to obtain, in a pick-up or transfer operation, in addition toinformation about the mere position, information about the respectivealignments of the other participants with regard to one's own alignment.

Even though some aspects have been described within the context of adevice, it is understood that said aspects also represent a descriptionof the corresponding method, so that a block or a structural componentof a device is also to be understood as a corresponding method step oras a feature of a method step. By analogy therewith, aspects that havebeen described in connection with or as a method step also represent adescription of a corresponding block or detail or feature of acorresponding device.

Depending on specific implementation requirements, embodiments of theinvention may be implemented in hardware or in software. Implementationmay be effected while using a digital storage medium, for example afloppy disc, a DVD, a Blu-ray disc, a CD, a ROM, a PROM, an EPROM, anEEPROM or a FLASH memory, a hard disc or any other magnetic or opticalmemory which has electronically readable control signals stored thereonwhich may cooperate, or cooperate, with a programmable computer systemsuch that the respective method is performed. This is why the digitalstorage medium may be computer-readable. Some embodiments in accordancewith the invention thus comprise a data carrier which compriseselectronically readable control signals that are capable of cooperatingwith a programmable computer system such that any of the methodsdescribed herein is performed.

Generally, embodiments of the present invention may be implemented as acomputer program product having a program code, the program code beingeffective to perform any of the methods when the computer programproduct runs on a computer. The program code may also be stored on amachine-readable carrier, for example.

Other embodiments include the computer program for performing any of themethods described herein, said computer program being stored on amachine-readable carrier.

In other words, an embodiment of the inventive method thus is a computerprogram which has a program code for performing any of the methodsdescribed herein, when the computer program runs on a computer. Afurther embodiment of the inventive methods thus is a data carrier (or adigital storage medium or a computer-readable medium) on which thecomputer program for performing any of the methods described herein isrecorded.

A further embodiment of the inventive method thus is a data stream or asequence of signals representing the computer program for performing anyof the methods described herein. The data stream or the sequence ofsignals may be configured, for example, to be transferred via a datacommunication link, for example via the internet.

A further embodiment includes a processing means, for example a computeror a programmable logic device, configured or adapted to perform any ofthe methods described herein.

A further embodiment includes a computer on which the computer programfor performing any of the methods described herein is installed.

In some embodiments, a programmable logic device (for example afield-programmable gate array, an FPGA) may be used for performing someor all of the functionalities of the methods described herein. In someembodiments, a field-programmable gate array may cooperate with amicroprocessor to perform any of the methods described herein.Generally, the methods are performed, in some embodiments, by anyhardware device. Said hardware device may be any universally applicablehardware such as a computer processor (CPU) or a hardware specific tothe method, such as an ASIC.

While this invention has been described in terms of several embodiments,there are alterations, permutations, and equivalents which fall withinthe scope of this invention. It should also be noted that there are manyalternative ways of implementing the methods and compositions of thepresent invention. It is therefore intended that the following appendedclaims be interpreted as including all such alterations, permutationsand equivalents as fall within the true spirit and scope of the presentinvention.

1. Device comprising: an optical sensing unit configured to sense anobject so as to acquire a picture of the object; a drive unit configuredto drive and to move the device; an evaluation unit configured toevaluate the picture in terms of an at least two-dimensional pattern,and to evaluate the pattern in terms of at least a first marking areaand a second marking area so as to acquire a marking result by comparingthe first marking area and the second marking area; and to determine, onthe basis of the marking result, relative localization of the devicewith regard to the object; a control unit configured to control thedrive unit on the basis of the relative localization; wherein the driveunit is configured to move the device along a direction of movement;wherein the optical sensing unit is configured to sense the object alongor in parallel with the direction of movement.
 2. Device as claimed inclaim 1, wherein the pattern is a two-dimensional QR code whichcomprises a plurality of marking areas between which an object code foridentifying the object and a surface code for identifying a surface ofthe object are arranged along different spatial directions.
 3. Device asclaimed in claim 1, wherein the evaluation unit is configured todetermine a rotation of the object with regard to the device by means ofa size comparison of the first marking area and the second marking area.4. Device as claimed in claim 3, the device being a ground vehicleconfigured to move along horizontally while using the drive unit, theevaluation unit being configured to evaluate the pattern in terms of ahorizontal arrangement of the first pattern area and of the secondpattern area so as to determine a rotation, related to an orientation ofthe device, of the object about a vertical axis.
 5. Device as claimed inclaim 3, wherein the evaluation unit is configured to evaluate thepattern in terms of a vertical arrangement of the first pattern area andof the second pattern area so as to determine a rotation, related to anorientation of the device, of the object about a horizontal axis. 6.Device as claimed in claim 1, wherein the evaluation unit is configuredto verify exclusively areas of the picture in terms of the presence ofadditional information, the evaluation unit being configured to verifythe picture in at least a pattern area; wherein pattern areas arespanned along a linear straight-line displacement of a marking area toform an adjacent marking area.
 7. Device as claimed in claim 6, whereinan expansion of the pattern area along a direction perpendicular to thestraight line is determined by a dimension of the marking area. 8.Device as claimed in claim 6, wherein different pattern areas extendexclusively perpendicularly or in parallel with one another.
 9. Deviceas claimed in claim 1, wherein the evaluation unit is configured todetermine an object distance between the device and the object by meansof comparing a size of the first or second pattern areas in the pictureto a reference size, and to determine the relative localization on thebasis of the object distance.
 10. Device as claimed in claim 1, whereinthe evaluation unit is configured to evaluate the pattern in terms of athird pattern area and a fourth pattern area which span a rectanglealong with the first pattern area and the second pattern area, and todetermine the relative localization from deviations of the first tofourth pattern areas from the arrangement as a rectangle.
 11. Device asclaimed in claim 1, wherein the evaluation unit is configured toevaluate the picture in terms of an object code and to perform objectidentification of the object on the basis of the object code, thecontrol unit being configured to control the drive unit on the basis ofthe object identification.
 12. Device as claimed in claim 1, wherein theevaluation unit is configured to evaluate the picture in terms of asurface code and to perform surface identification of a surface of theobject on the basis of the surface code, the control unit beingconfigured to control the drive unit on the basis of the surfaceidentification.
 13. Device as claimed in claim 1, wherein the evaluationunit is configured to evaluate the picture in terms of an object codewhich is arranged between the first and second marking areas andindicates an identity of the object.
 14. Device as claimed in claim 1,wherein the evaluation unit is configured to evaluate the pattern interms of at least one third marking area; and to evaluate the picture interms of an object code which is arranged between the first and secondmarking areas and indicates an identity of the object; and to evaluatethe picture in terms of a surface code which is arranged between thethird marking area and the first or second marking areas and indicatesan identity of a side of the object on which the pattern is arranged.15. Device as claimed in claim 1, wherein the evaluation unit isconfigured to evaluate the pattern in terms of an object code indicatingan identity of the object, and to evaluate the pattern in terms of asurface code which is arranged separately from the former and indicatesa specific surface region of the object, and to determine the relativelocalization with regard to the object and to the surface region. 16.Device as claimed in claim 1, wherein the control unit is configured toperform an instruction which indicates to take up a predeterminedrelative position with regard to a predetermined side of a predeterminedobject, and is configured to adapt its own position by controlling thedrive unit in accordance with the instruction, on the basis of therelative localization.
 17. Device as claimed in claim 1, comprising acoupling unit configured to perform mechanical coupling to acorresponding mechanical coupling unit of the object.
 18. Device asclaimed in claim 17, configured to orient itself by the two-dimensionalpattern so as to mechanically connect the mechanical coupling unit tothe corresponding mechanical coupling unit.
 19. Device as claimed inclaim 1, which in a top view spans a polygon surface and comprises amechanical coupling unit on at least two faces of the polygon. 20.Device as claimed in claim 17, comprising a two-dimensional pattern onat least one side on which the mechanical coupling unit is arranged. 21.Device as claimed in claim 1, which is a self-driving robot.
 22. Devicegroup comprising: a plurality of devices comprising: an optical sensingunit configured to sense an object so as to acquire a picture of theobject; a drive unit configured to drive and to move the device; anevaluation unit configured to evaluate the picture in terms of an atleast two-dimensional pattern, and to evaluate the pattern in terms ofat least a first marking area and a second marking area so as to acquirea marking result by comparing the first marking area and the secondmarking area; and to determine, on the basis of the marking result,relative localization of the device with regard to the object; a controlunit configured to control the drive unit on the basis of the relativelocalization; wherein the drive unit is configured to move the devicealong a direction of movement; wherein the optical sensing unit isconfigured to sense the object along or in parallel with the directionof movement; wherein the plurality of devices comprise, on at least onesurface, a device pattern indicating at least one object side or anobject identity; wherein the plurality of devices are configured toorient themselves, in relation to one another, on the basis of therespective relative localization.
 23. Device group as claimed in claim22, wherein the devices are configured to sense the device pattern ofother devices; and to take up, on the basis of object codes and/orsurface codes, a respective relative location with regard to a anotherdevice of the device group or to a surface thereof.
 24. Device group asclaimed in claim 22, wherein the plurality of devices are configured tomechanically couple to one another.
 25. Method comprising: controlling adrive unit to drive a device and to move it along a direction ofmovement within a plane of movement; controlling an optical sensing unitof the device to sense an object within the or in parallel with theplane of movement so as to acquire a picture of the object; controllingan evaluation unit to evaluate the picture in terms of an at leasttwo-dimensional pattern; and to evaluate the pattern in terms of atleast a first marking area and a second marking area, to acquire amarking result by comparing the first marking area and the secondmarking area; and to determine, on the basis of the marking result,relative localization of the device with regard to the object;controlling a control unit to control the drive unit on the basis of therelative localization.
 26. A non-transitory digital storage mediumhaving a computer program stored thereon to perform the method whichcomprises: controlling a drive unit to drive a device and to move italong a direction of movement within a plane of movement; controlling anoptical sensing unit of the device to sense an object within the or inparallel with the plane of movement so as to acquire a picture of theobject; controlling an evaluation unit to evaluate the picture in termsof an at least two-dimensional pattern; and to evaluate the pattern interms of at least a first marking area and a second marking area, toacquire a marking result by comparing the first marking area and thesecond marking area; and to determine, on the basis of the markingresult, relative localization of the device with regard to the object;controlling a control unit to control the drive unit on the basis of therelative localization, when said computer program is run by a computer.